code: def test_from_matrix(self, device, dtype):
      b_from_a_matrix = Se3.identity(
          device=device, dtype=dtype
      ).matrix()
      b_from_a = NamedPose.from_matrix(
          b_from_a_matrix, frame_src="frame_a", frame_dst="frame_b"
      )
      point_in_a = torch.tensor(
          [1.0, 2.0, 3.0], device=device, dtype=dtype
      )
      point_in_b = b_from_a.transform_points(point_in_a)
      self.assert_close(point_in_b, point_in_a)
      assert isinstance(b_from_a, NamedPose)
      assert isinstance(b_from_a.pose, Se3)
  
      b_from_a_matrix = torch.eye(3, device=device, dtype=dtype)
      b_from_a = NamedPose.from_matrix(
          b_from_a_matrix, frame_src="frame_a", frame_dst="frame_b"
      )
      point_in_a = torch.tensor([1.0, 2.0], device=device, dtype=dtype)
      point_in_b = b_from_a.transform_points(point_in_a)
      self.assert_close(point_in_b, point_in_a)
      assert isinstance(b_from_a, NamedPose)
      assert isinstance(b_from_a.pose, Se2)
  
file_path: kornia/test/geometry/test_pose.py
imports: import pytest
  import torch
  from kornia.geometry import NamedPose
  from kornia.geometry.liegroup import Se2, Se3, So2, So3
  from kornia.testing import BaseTester
label_desc: Use image node_id 9 for calling the TestNamedPose obj's underlying member method code with example usage: obj.test_from_matrix(device, dtype) without return types